Three-dimensional sorting control method, three-dimensional sorting robot and related equipment

Abstract

A sorting control method for a three-dimensional sorting robot, a three-dimensional sorting robot, and related devices are provided. The sorting control method includes a status acquisition step of acquiring the status of a target cargo car unit of a current sorting cargo shelf (3), an input step of controlling the unloading mechanism of the three-dimensional sorting robot (1) to execute a first input operation when it is confirmed that the target cargo car unit is in a usable state, a determination step of determining whether or not the cargo to be input has entered the target cargo car unit, and if not, controlling the unloading mechanism of the three-dimensional sorting robot (1) to execute a second input operation, and a confirmation step of repeatedly executing the determination step until it is confirmed that the cargo to be input has been input into the target cargo car unit. The sorting control method ensures rapid sorting by the three-dimensional sorting robot, improves the sorting efficiency as a whole, and significantly improves the reliability of cargo input by the three-dimensional sorting robot.

Description

[Technical Field]

[0001] The present application relates to the technical field of sorting robots, and in particular to a sorting control method for a three-dimensional sorting robot, a three-dimensional sorting robot, and related equipment.

[0002] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority based on a Chinese application filed with the State Intellectual Property Office of the People's Republic of China on October 20, 2021, bearing application number 202111220181.5 and entitled "Three-dimensional sorting control method, three-dimensional sorting robot and related equipment," the entire contents of which are incorporated herein by reference. [Background technology]

[0003] A sorting robot is a robot equipped with sensors and an identification mechanism that performs sorting operations, allowing for the rapid sorting of cargo. Conventional sorting robots include flatbed sorting robots and sorting robot arms. At collection and distribution centers, the robot places cargo from a bag onto a conveyor, travels to the location of the sorting bag corresponding to the destination, and then drops or lifts the cargo off the conveyor to place it into the destination sorting bag, thereby sorting it.

[0004] In the prior art, flat sorting systems can achieve relatively high sorting efficiency once they are in place, while three-dimensional sorting systems are increasingly used because they can improve sorting efficiency. However, the current three-dimensional sorting systems have a problem that during the three-dimensional sorting process, the goods are sometimes not placed in the sorting shelves and cargo baskets, meaning that they cannot be guaranteed to be placed in the cargo baskets. Summary of the Invention [Problem to be solved by the invention]

[0005] The embodiments of the present application provide a sorting control method for a three-dimensional sorting robot, a three-dimensional sorting robot, and related equipment that can improve sorting efficiency and ensure reliable sorting of cargo. [Means for solving the problem]

[0006] A sorting control method for a three-dimensional sorting robot, comprising: a status acquisition step of acquiring the status of a target cargo car unit on a current sorting cargo shelf; an input step of controlling the unloading mechanism of the three-dimensional sorting robot to execute a first input operation when it is confirmed that the target cargo car unit is in a usable state; a determination step of determining whether the cargo to be input has entered the target cargo car unit, and if not, controlling the unloading mechanism of the three-dimensional sorting robot to execute a second input operation; and a confirmation step of repeatedly executing the determination step until it is confirmed that the cargo to be input has been input into the target cargo car unit, wherein the three-dimensional sorting robot and the property information of the target sorting cargo shelf are linked, and the linking relationship is associated with a target order, and in processing a sorting task for the target order, the three-dimensional sorting robot sorts the cargo to be sorted based on the property information of the cargo shelf, and the property information includes a correspondence relationship between the ordered cargo and the target cargo car unit.

[0007] Optionally, the step of obtaining the status of the target cargo car unit on the current sorting cargo shelf includes the steps of: checking whether the target cargo car unit is at a predetermined position on the target sorting cargo shelf; if the target cargo car unit is at the predetermined position, determining whether the target cargo car unit is in a state where it cannot receive cargo to be loaded due to the presence of a damaged portion; and if the target cargo car unit is able to receive cargo normally, performing a loading step.

[0008] Optionally, the step of determining whether the cargo to be injected has entered the target cargo car unit includes the steps of using a scanning device or an image capturing device to obtain an optical feedback result or an image analysis result indicating whether the target cargo car unit has received the cargo, and determining that the cargo has not been injected when the optical feedback result or the image analysis result indicates that the cargo is not present at a first inspection position within the target cargo car unit.

[0009] Optionally, the confirmation step includes the steps of using a lifting means attached to the lowering mechanism to raise the scanning device or image capturing device to a predetermined position and acquiring an optical feedback result or an image analysis result again, and determining that the cargo has not been loaded when the optical feedback result or the image analysis result indicates that the cargo is not present at the second inspection position in the target cargo car unit.

[0010] Optionally, the step of checking whether the target cargo car unit is located at a predetermined position on the target sorting cargo shelf includes the steps of: utilizing a scanning device or an image capturing device to obtain information on whether the target cargo car unit is located at a predetermined position on the target sorting cargo shelf; and controlling an unloading mechanism of the three-dimensional sorting robot to stop a loading operation when the optical feedback result or the image analysis result indicates that the target cargo car unit is not located at the predetermined position.

[0011] Optionally, the state obtaining step further includes obtaining attribute data of a cargo car unit of the sorting cargo shelf, the attribute data including dimension data, volume data and type data.

[0012] Optionally, the three-dimensional sorting robot is linked to property information of a target sorting cargo shelf, and the property information of the target sorting cargo shelf is acquired by the three-dimensional sorting robot using an RFID reader, and this step includes a step of reading a tag installed on the target sorting cargo shelf to acquire the property information, the tag including at least structural data of the sorting cargo shelf and positional information of the cargo car unit, the structural data of the sorting cargo shelf indicating the vertical and horizontal structure of the sorting cargo shelf and information on available cargo cars, and the positional information of the cargo car unit indicating the position of the cargo car unit in a coordinate system established by the sorting cargo shelf.

[0013] Optionally, the step of the three-dimensional sorting robot sorting the cargo to be sorted based on the property information of the cargo shelf includes the steps of analyzing sorting information including a correspondence between the cargo to be sorted and a certain cargo car unit on the sorting cargo shelf, searching a correspondence table to obtain coordinate values ​​of the cargo car unit in a three-dimensional coordinate system constructed by the sorting cargo shelf, and indexing the coordinate values ​​to identify a position and loading the cargo to be sorted into the cargo car unit.

[0014] A three-dimensional sorting robot is provided, the three-dimensional sorting robot being arranged in a three-dimensional sorting system, and a control module is provided in the three-dimensional sorting robot, the control module being configured to execute the three-dimensional sorting control method described above.

[0015] Optionally, the three-dimensional sorting robot is linked to property information of a target sorting cargo shelf, and the linking relationship is associated with a target order, and in processing the sorting task of the target order, the cargo to be sorted is sorted based on the property information of the cargo shelf.

[0016] A three-dimensional sorting control system is disposed in a three-dimensional sorting system, and the three-dimensional sorting control system is configured to execute the three-dimensional sorting control method described above.

[0017] Optionally, the three-dimensional sorting control system is controlled by one or more servers, or a host device or a centralized control device disposed in the three-dimensional sorting control system allocates sorting tasks to the three-dimensional sorting robots.

[0018] Optionally, the server is configured to store property information of each sorting cargo shelf or cargo car, and to store and update the relationship between the three-dimensional sorting robot, the order being processed, and the associated three-dimensional sorting cargo shelf or cargo car.

[0019] Optionally, the three-dimensional sorting system is provided with one or more planar sorting robots that cooperate with the three-dimensional sorting robot, and the planar sorting robots are configured to transport cargo to the three-dimensional sorting robots based on the target order.

[0020] The computing device comprises at least one processor and a memory communicatively connected to the at least one processor, wherein commands executable by the at least one processor are stored in the memory, and when the commands are executed by the at least one processor, the above-mentioned three-dimensional sorting control method is executed by the at least one processor.

[0021] The sorting control method, three-dimensional sorting robot, and related equipment used in the three-dimensional sorting robot according to the present application execute a first insertion operation when it is confirmed through a status acquisition step and an insertion step that the target cargo car unit is in a usable state, and if the insertion is unsuccessful through a determination step, executes a second insertion operation, and repeats the determination step until it is confirmed through a confirmation step that the cargo to be inserted has been inserted into the target cargo car unit. The sorting control method also utilizes cooperation between the inspection and identification device, control device, and unloading device of the three-dimensional sorting robot to multiple times confirm and determine whether cargo has been properly loaded based on the status of the cargo car unit, thereby ensuring rapid sorting by the three-dimensional sorting robot, improving overall sorting efficiency, and significantly improving the reliability of cargo insertion by the three-dimensional sorting robot. [Brief explanation of the drawings]

[0022] The drawings described are intended as a part of this application and for understanding the application, and the illustrative embodiments and descriptions thereof are intended for interpreting the application and are not intended to limit the application. [Figure 1a] 1 is a schematic configuration diagram of a three-dimensional sorting system according to an embodiment of the present application. [Figure 1b] 1 is a schematic diagram illustrating a configuration of a three-dimensional sorting cargo shelf according to an embodiment of the present application. [Figure 1c] 1 is a schematic diagram illustrating a configuration of a three-dimensional sorting cargo shelf according to an embodiment of the present application. [Figure 1d] 1 is a schematic flowchart of a sorting control method used in a three-dimensional sorting robot according to an embodiment of the present application. [Figure 2] 1 is a schematic flowchart of a sorting control method used in a three-dimensional sorting robot according to an embodiment of the present application. [Figure 3] 1 is a schematic flowchart of a sorting control method used in a three-dimensional sorting robot according to an embodiment of the present application. [Figure 4]1 is a schematic flowchart of a sorting control method used in a three-dimensional sorting robot according to an embodiment of the present application. [Figure 5] 1 is a schematic flowchart of a sorting control method used in a three-dimensional sorting robot according to an embodiment of the present application. [Figure 6] 1 is a schematic diagram of a configuration utilizing a three-dimensional sorting robot according to an embodiment of the present application. [Figure 7] 1 is a schematic configuration diagram of a three-dimensional sorting system according to an embodiment of the present application. [Figure 8] FIG. 2 is a schematic diagram of a calculation means according to an embodiment of the present application. [Figure 9] 1 is a schematic diagram of a readable medium according to an embodiment of the present application; DETAILED DESCRIPTION OF THE INVENTION

[0023] The embodiments of the present application provide a sorting control method for a three-dimensional sorting robot, a three-dimensional sorting robot, and related equipment, thereby achieving the technical objectives of improving sorting efficiency and reliably sorting cargo.

[0024] For ease of understanding, the embodiments of the present application will be described based on the structure shown in FIG. 1a, but the structure shown in FIG. 1a does not limit the scope of the present application.

[0025] A three-dimensional sorting system according to an embodiment of the present application will now be described with reference to FIG. 1a. In this application, the three-dimensional sorting system includes multiple three-dimensional sorting robots 1, a server 2, and a sorting shelf 3. The three-dimensional sorting robot 1 uses a horizontal and vertical movement mechanism via a support structure to identify and perform sorting tasks on a multi-tiered three-dimensional sorting shelf. The three-dimensional sorting robot 1 is equipped with a rotating plate or an unloading mechanism for placing cargo on the sorting shelf. The three-dimensional sorting robot 1 can cooperate with a tabletop sorting robot or a flat-surface sorting robot 4 to perform sorting tasks based on a specific batch order. The server 2 controls the sorting batch, sorting order, and multiple three-dimensional sorting robots within the local area network or region, and associates the three-dimensional sorting robots with the sorting shelf based on a specific batch order. In this application, the server controls and checks the status of each sorting robot in the three-dimensional sorting system via a wired or wireless method, including but not limited to a bus-based control method.

[0026] Referring to Figures 1b and 1c, the sorting cargo shelf according to the present application may be a sorting cargo shelf or cargo car of any structure or shape. A typical sorting cargo shelf or cargo car is arranged according to cargo or sorting line, and the sorting cargo shelf is not always identical in structure; some sorting cargo shelves are formed by connecting multiple cargo shelves. In a conventional environment where there are various sorting cargo shelves or cargo cars, a sorting robot is needed that can reliably sort cargo even when there are various structural types of sorting cargo shelves or cargo cars, and even when a cargo car unit is damaged or missing. Prior art sorting robots cannot guarantee reliable cargo loading.

[0027] In view of this, as shown in FIG. 1d, the sorting control method used in the three-dimensional sorting robot according to the present application includes the following steps:

[0028] S11: A state acquisition step in which the state of the target freight car unit of the current sorting freight shelf is acquired.

[0029] In this step, it is necessary to inspect and confirm the status of the target cargo car unit, such as whether it is in the designated position on the sorting cargo shelf, and / or whether the damage condition of the target cargo car unit allows cargo to be loaded, and whether the target cargo car unit is full and cannot accommodate any more cargo.

[0030] More specifically, determining whether the target cargo car unit is located at a predetermined position on the target sorting cargo shelf is specifically achieved as follows.

[0031] A scanning device or an image capturing device is used to obtain information as to whether the target cargo car unit is located at a predetermined position on the target sorting cargo shelf.

[0032] When the optical feedback result or the image analysis result indicates that the target cargo car unit is not present at the predetermined position, the unloading mechanism of the three-dimensional sorting robot is controlled to stop the loading operation.

[0033] Optionally, when the optical feedback result or image analysis result indicates that the target cargo car unit has reached a space capacity limit, the unloading mechanism of the three-dimensional sorting robot is controlled to stop the loading operation.

[0034] Of course, the above situation can be set for each cargo based on the order of the corresponding batch. For example, for cargo with a uniform thickness, such as documents, the capacity of the cargo car unit can be preset based on the number of orders. Specific explanations are omitted here.

[0035] As shown in FIG. 2, the steps of obtaining the status of the target car unit of the current sorting shelf include the following steps:

[0036] S21: It is confirmed whether the target cargo car unit is at a predetermined position on the target sorting cargo shelf. The predetermined position is position information on a certain target sorting cargo shelf, and examples thereof include the third row and fifth column, the second row and third column, and the like.

[0037] S22: If the target cargo car unit is at a predetermined position, it is determined whether the target cargo car unit is in a state where it cannot receive cargo to be input due to the presence of a damaged portion.

[0038] S23: If the target car unit can normally receive the cargo, execute the input step.

[0039] The three-dimensional sorting robot and property information of a target sorting cargo shelf are linked, and the linking relationship is associated with a target order. In processing a sorting task for the target order, the three-dimensional sorting robot sorts the cargo to be sorted based on the property information of the cargo shelf. The property information includes a correspondence relationship between the order cargo and the target cargo car unit.

[0040] The sorting operation of the sorting robot is realized based on the predetermined position of the cargo car unit. For example, in the case of a sorting task for a certain order A002, there are 10,000 sorting tasks for this order A002. In processing the tasks for this order A002, the three-dimensional sorting robot needs to be linked to the target sorting cargo shelf 001 in order to sort the cargo accurately during the sorting process.

[0041] In a three-dimensional sorting system, the three-dimensional sorting shelf generally has a shelf structure of at least two or more levels, with car units arranged in a regular pattern on the shelf. Of course, the specific structure and number of levels of the sorting shelf in the present application are not limited in actual applications. As shown in Figure 1c, the three-dimensional sorting system has multiple sorting shelves. For example, the target sorting shelf is numbered 001, and its property information includes at least the structure data of the sorting shelf. For example, the structure of shelf 001 is four rows and three columns. After identifying the shelf, if the sorting robot needs to place the cargo to be sorted into the car unit in the third row and second column, the three-dimensional sorting robot can simply place the cargo based on the structure and position. The structure data can also be distinguished by the type of sorting shelf. For example, model number X001 is a rectangular sorting shelf with four rows and three columns, and model number Y001 is a rectangular sorting shelf with eight rows and five columns.

[0042] S12: A throwing step. When it is confirmed that the target cargo car unit is in a usable state, the unloading mechanism of the three-dimensional sorting robot is controlled to execute a first throwing operation.

[0043] When step S11 is executed, a scanning device or image capturing device disposed in the unloading device is controlled to perform a first scan or photograph to confirm the status of the cargo car. When step S12 is executed, the unloading mechanism is controlled to perform a first loading operation. The specific loading operation can be set based on the structure and operation type of the unloading mechanism and is not limited thereto. For example, the loading operation of the unloading mechanism is performed by driving a motor to tilt a rotating plate or a shovel-shaped plate of the unloading mechanism to load cargo.

[0044] S13: A judgment step in which it is judged whether the cargo to be put into the target cargo car unit has entered, and if not, the unloading mechanism of the three-dimensional sorting robot is controlled to perform a second putting operation.

[0045] During the actual loading process, the cargo to be loaded may not be able to enter the target cargo car unit because the cargo is too light in weight, too small in size, or the unloading mechanism does not tilt to the specified position when loading.If this occurs, a second loading attempt is made.

[0046] As shown in FIG. 3, determining whether the cargo to be injected has entered the target cargo car unit is preferably performed in the following manner.

[0047] S31: Using a scanning device or an image capturing device, obtain an optical feedback result or an image analysis result of whether the target cargo car unit has received the cargo. S32: When the optical feedback result or the image analysis result indicates that the cargo is not present at the first inspection position in the target cargo car unit, it is determined that the cargo has not been inserted.

[0048] S14: A confirmation step, in which a judgment step is repeatedly executed until it is confirmed that the cargo to be put into the target cargo car unit has been put into the target cargo car unit.

[0049] As shown in FIG. 4, the checking step is optional and is specifically implemented as follows.

[0050] S41: Using the lifting means attached to the lowering mechanism, the scanning device or image acquisition device is raised to a predetermined position, and the optical feedback result or image analysis result is acquired again.

[0051] In this embodiment, it is preferable to reconfirm whether the item has been inserted. According to actual statistics on cases where the item has not been inserted, it is sometimes impossible to accurately confirm whether a relatively small item has been inserted due to obstructions caused by the height of the edge of the sorting car, or the item cannot be dropped into the car unit due to adhesion between the loading surface of the unloading mechanism and the packaging. Therefore, in order to verify this, it is necessary to increase the field of view or capture more images.

[0052] S42: When the optical feedback result or the image analysis result indicates that the cargo is not present at the second inspection position in the target cargo car unit, it is determined that the cargo has not been inserted. Generally, it is possible to confirm whether the cargo has been properly placed by checking two or three times using optical feedback or image analysis. The specific number of checks can be set according to the characteristics of the cargo depending on the type of business, and is not limited here.

[0053] The sorting principle of the sorting robot will be explained as follows: In processing the sorting task of the target order, the cargo to be sorted is sorted based on the property information of the cargo shelf.

[0054] In this embodiment, the three-dimensional sorting robot is configured to operate under the control of the server with respect to the orders and sorting tasks to be processed. The three-dimensional sorting robot sorts cargo objects, and the object positions are determined by the property information of the sorting cargo shelves or cargo baskets.

[0055] In this embodiment, the method further includes obtaining attribute data of the cargo car units on the sorting cargo shelf to obtain more detailed information about the sorting cargo shelf, including dimension data, volume data, and type data. The dimension, volume, and type of each cargo car unit are obtained, and a sorting task is assigned accordingly, so that the cargo waiting for allocation can be sorted easily, quickly, and assigned to a cargo car suitable for sorting.

[0056] Based on the attribute data, the cargo to be sorted in the target order is matched, and a correspondence table between the cargo to be sorted and the cargo car units is generated. Each cargo to be sorted has a correspondence relationship with one or more cargo car units based on a sorting task, and the sorting robot performs accurate sorting based on the correspondence relationship.

[0057] Before the step of acquiring the status of the target sorting cargo car shown in Figure 1d, a tag installed on the target sorting cargo shelf is read by RFID to acquire the property information, and the tag includes at least the structure data of the sorting cargo shelf and the location information of the cargo car unit.

[0058] The sorting shelf configuration data indicates the vertical and horizontal configuration of the sorting shelf and information on available cargo cages. The position information of the cargo car unit indicates the position of the cargo car unit in a coordinate system established by the sorting cargo shelf.

[0059] The above-mentioned method for reading RFID tags is a preferred method when movable sorting cargo shelves are installed in a three-dimensional sorting system. When sorting robot No. 001 receives the sorting task for order A002, in order to efficiently process the sorting, nine movable sorting shelves (No. X010 to No. X090) are provided for sorting robot No. 001 to process the order.

[0060] When a movable sorting shelf with model number X001 is used for sorting, the No. 001 sorting robot reads the RFID tag of the No. X010 movable sorting shelf and confirms that the target rectangular sorting shelf is model number X001 (model number X001 is a rectangular sorting shelf with 4 rows and 3 columns). Through reading, it obtains information that the target rectangular sorting shelf is arranged in 4 rows and 3 columns and has a total of 12 available cargo baskets. If the target sorting shelf is represented by each of the 12 available cargo baskets based on a coordinate system, X1Y1(1,1) represents the cargo basket in the first row and first column, X1Y2(1,2) represents the cargo basket in the first row and second column, and so on until X4Y3(4,3) represents the cargo basket in the fourth row and third column.

[0061] During the processing of the target order A002, there is a unique link between the three-dimensional sorting robot and the target sorting cargo shelf, that is, after sorting to movable sorting shelf X010, sorting robot No. 001 proceeds to sort to movable sorting shelf X020.

[0062] As shown in FIG. 5, the sorting step is carried out in the following manner.

[0063] S51: Analyze the sorting information of the cargo to be sorted, and the sorting information includes a correspondence with a certain cargo car unit on the sorting cargo shelf.

[0064] S52: The correspondence table is searched to obtain the coordinate values ​​of the cargo car unit in the three-dimensional coordinate system constructed by the sorting cargo shelves.

[0065] S53: The coordinate values ​​are searched to identify the location, and the cargo to be sorted is placed into the cargo car unit.

[0066] Of course, the method is not limited to sorting cargo by reading property information using RFID and searching a correspondence table.

[0067] As shown in Figures 6 and 1a, an embodiment of the present application further discloses a three-dimensional sorting robot, which is disposed in a three-dimensional sorting system (see Figure 1a) and has a linking relationship with property information of a target sorting cargo shelf, and the linking relationship is associated with a target order. In processing a sorting task for the target order, the cargo to be sorted is sorted based on the property information of the cargo shelf. A control module is installed in the three-dimensional sorting robot, and the control module is configured to execute the three-dimensional sorting control method shown in Figures 1a to 1d and 2 to 5.

[0068] In a sorting area, multiple three-dimensional sorting robots are used simultaneously for sorting, and the three-dimensional sorting robots are arranged in the three-dimensional sorting system via a bus structure. The three-dimensional sorting robot 1 identifies and performs sorting tasks on a multi-tiered three-dimensional sorting cargo shelf using a lateral movement mechanism and a vertical movement mechanism via a support structure. The three-dimensional sorting robot 1 is equipped with a rotating plate or a lowering mechanism for placing cargo on the sorting cargo shelf. The scanning device or image capturing device is raised to a predetermined position using a lifting means attached to the lowering mechanism. The scanning device or image capturing device is attached above the front of the rotating plate or shovel-shaped plate of the lowering mechanism and is configured to scan or capture images of the outer portion of the target sorting cargo car and the interior of the cargo car.

[0069] The lifting means uses the scanning or photographing result as a trigger command to move the lowering mechanism, and if the item cannot be inserted or needs to be rechecked, moves the lowering mechanism vertically and horizontally, thereby obtaining information on other inspection positions obtained by scanning or photographing, or enabling more accurate insertion. The hardware structure corresponding to the lifting means and the mounting method of the scanning device or image capturing device are set according to the actual structure of the sorting robot.

[0070] FIG. 7 shows a three-dimensional sorting control system, which is arranged in a three-dimensional sorting system.

[0071] The three-dimensional sorting control system executes the above-mentioned three-dimensional sorting control method and the contents shown in Figures 1 to 5. The three-dimensional sorting control system is controlled by one or more servers. Of course, a host device or a centralized control device may be installed to allocate sorting tasks to the three-dimensional sorting robots.

[0072] The server side manages and collects data on batches, orders, and the completion status of orders, so in this embodiment, the server stores property information for each sorting cargo shelf or cargo car, and stores and updates the relationship between the three-dimensional sorting robot, the order being processed, and the linked three-dimensional sorting cargo shelf or cargo car.

[0073] 1a, in the proposed three-dimensional sorting system, a sorting robot operating on a plane is configured to transport cargo to be sorted to a sorting mechanism of the three-dimensional sorting robot, and one or more two-dimensional sorting robots are arranged in one three-dimensional sorting system to cooperate with the three-dimensional sorting robot, and the two-dimensional sorting robot is configured to transport cargo to the first three-dimensional sorting robot based on the target order.

[0074] For specific control methods, reference can be made to FIGS. 1 to 5 and their explanations, and therefore redundant explanations will be omitted in this embodiment.

[0075] FIG. 8 shows a computing device 80 corresponding to the method shown in FIGS. The computing device 80 shown in FIG. 8 is merely exemplary and does not limit the functionality and scope of use of the embodiments of the present application.

[0076] 8, the server is preferably implemented in the form of a general-purpose computing device 80. The configuration of the computing device 80 includes, but is not limited to, at least one processor 81 as described above, at least one memory 82 as described above, and a bus 83 connecting the different system elements (memory 82 and processor 81).

[0077] Bus 83 may include one or more of several types of bus structures, including a memory bus or memory controller, a bus for peripherals, a processor, or a local bus using any of a variety of bus structures.

[0078] The memory 82 includes a readable medium in the form of volatile memory including, for example, random access memory (RAM) 821 and / or cache memory 822 , and may further include read-only memory (ROM) 823 .

[0079] Memory 82 may further include programs / utilities 825 comprising a set (at least one) program module 824. Such program modules 824 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, any one or particular combination of which examples may comprise an implementation of a network environment.

[0080] Computing device 80 may communicate with one or more external devices 84 (e.g., keyboard, pointing device, etc.), one or more devices that enable user interaction with computing device 80, and / or any device (e.g., router, modem, etc.) that enables computing device 80 to communicate with one or more other computing devices. Such communication is achieved through input / output (I / O) interface 85. Computing device 80 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network such as the Internet) via network adapter 88. As shown in the drawing, network adapter 88 may communicate with other modules used in computing device 80 via bus 83. Although not shown, other hardware and / or software modules may be used in combination with computing device 80, including, but not limited to, microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data archive storage systems, etc.

[0081] In some embodiments, a computing device according to the present application includes at least one processor and at least one memory (e.g., a first server), and the memory stores program code that, when executed by the processor, causes the processor to perform the steps of the system authority access methods described above according to various exemplary embodiments of the present application.

[0082] 9, the sorting control method for a three-dimensional sorting robot according to the embodiments of FIGS. 1 to 5 may be realized by a computer-readable medium 91. As shown in FIG. 9, computer-executable commands are stored, i.e., program commands executed by the three-dimensional sorting control system according to the present application, and the computer-executable commands or high-speed chip-executable commands execute the sorting control method for a three-dimensional sorting robot according to the above embodiments.

[0083] A readable signal medium includes a data signal transmitted in baseband or as part of a carrier wave, having readable program code embodied therein. Such transmitted data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may be any readable medium, other than a readable storage medium, that can dispatch, spread, or transmit a program for use with or in connection with a command execution system, apparatus, or device.

[0084] The program code contained in the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0085] The program code for carrying out the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and the like, as well as conventional procedural programming languages ​​such as the "C" programming language or similar programming languages. The program code may execute entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or a server. In the case of a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., connected via the Internet via an Internet Service Provider).

[0086] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. Readable storage media include, for example, but are not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, controllers or devices, or any suitable combination thereof. More specific examples (but not all) of readable storage media include one or more wire connectors, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0087] A program product for system authorization access according to an embodiment of the present application may employ a portable compact disc read-only memory (CD-ROM), contain program code, and be operable on a computing device. However, the program product according to the present application is not limited thereto, and in this context, a readable storage medium may be any tangible medium that contains or stores a program that can be used with or in conjunction with a command execution system, control device, or device.

[0088] The present application is described with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. Each process and / or block in the flowcharts and / or block diagrams, and combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program commands. These computer program commands are applied to a processor of a general-purpose computer, special-purpose computer, embedded processor device, or other programmable data processing device to configure the device, whereby the commands executed by the processor of the computer or other programmable data processing device implement a particular function in one or more processes in the flowcharts and / or in one or more blocks in the block diagrams.

[0089] These computer program commands may be stored in a computer-readable memory that can instruct a computer or other programmable data processing device to function in a particular manner, such that the commands stored in the computer-readable memory result in an article of manufacture that includes command means for implementing particular functions in one or more processes of the flowcharts and / or one or more blocks of the block diagrams.

[0090] These computer program commands may be loaded into a computer or other programmable data processing device and cause the computer or other programmable device to perform a series of operational steps to realize computer-implemented processes, with the commands executed by the computer or other programmable device providing steps for implementing a particular function in one or more processes of the flowcharts and / or one or more blocks of the block diagrams.

[0091] As described above, the sorting control method, three-dimensional sorting robot, and related equipment used in the three-dimensional sorting robot according to the present application execute a first insertion operation when it is confirmed in a status acquisition step and an insertion step that the target cargo car unit is available for use, execute a second insertion operation if the insertion is unsuccessful in the determination step, and repeat the determination step until it is confirmed in the confirmation step that the cargo to be inserted has been inserted into the target cargo car unit. This sorting control method also utilizes cooperation between the inspection and identification device, control device, and unloading device of the three-dimensional sorting robot to multiple times confirm and determine whether cargo has been properly loaded based on the status of the cargo car unit, thereby ensuring rapid sorting by the three-dimensional sorting robot, improving overall sorting efficiency, and significantly improving the reliability of cargo insertion by the three-dimensional sorting robot.

[0092] Although the preferred embodiments of the present application have been described, other changes and modifications can be made to these embodiments once those skilled in the art understand the basic inventive concept. Therefore, the claims are intended to cover the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0093] Those skilled in the art may make modifications and variations to the present application without departing from the spirit and principles of the present application. If these modifications and variations to the present application fall within the scope of the claims of the present application and the technical scope equivalent thereto, the present application will include these modifications and variations.

[0094] Industrial Applicability This application discloses a three-dimensional sorting control method, a three-dimensional sorting robot, and related equipment. The three-dimensional sorting control method includes a status acquisition step of acquiring the status of a target cargo car unit on a current sorting shelf; an input step of controlling the unloading mechanism of the three-dimensional sorting robot to perform a first input operation when it is confirmed that the target cargo car unit is available; a determination step of determining whether the cargo to be input has entered the target cargo car unit and, if not, controlling the unloading mechanism of the three-dimensional sorting robot to perform a second input operation; and a confirmation step of repeatedly executing the determination step until it is confirmed that the cargo to be input has been input into the target cargo car unit. This application ensures rapid sorting by the three-dimensional sorting robot, improves overall sorting efficiency, and significantly improves the reliability of cargo input by the three-dimensional sorting robot.

[0095] Furthermore, the three-dimensional sorting control method, three-dimensional sorting robot, and related equipment according to the present application are feasible and can be applied to various industrial applications. For example, the three-dimensional sorting control method, three-dimensional sorting robot, and related equipment according to the present application can be applied to the technical field of sorting robots.

Claims

1. A sorting control method for a three-dimensional sorting robot, comprising: a state acquisition step of acquiring the state of the target cargo car unit of the current sorting cargo shelf; a loading step of controlling an unloading mechanism of the three-dimensional sorting robot to execute a first loading operation when it is confirmed that the target cargo car unit is in a usable state; a determining step of determining whether the cargo to be put into the target cargo car unit has entered the target cargo car unit, and if not, controlling the unloading mechanism of the three-dimensional sorting robot to execute a second putting operation; a confirmation step of repeatedly executing the determination step until it is confirmed that the cargo to be injected has been injected into the target cargo car unit; The three-dimensional sorting robot and property information of a target sorting cargo shelf are linked, and the linking relationship is associated with a target order. In processing a sorting task for the target order, the three-dimensional sorting robot sorts the cargo to be sorted based on the property information of the cargo shelf, and the property information includes a correspondence relationship between the order cargo and the target cargo car unit. A sorting control method for a three-dimensional sorting robot.

2. The step of obtaining the state of the target car unit of the current sorting shelf includes: determining whether the target cargo car unit is in a predetermined position on the target sorting cargo shelf; When the target cargo car unit is in a predetermined position, determining whether the target cargo car unit is in a state where it cannot receive cargo to be input due to the presence of a damaged portion; and if the target cargo car unit is able to normally receive cargo, performing a loading step.

2. The sorting control method according to claim 1.

3. The step of determining whether or not the cargo to be injected has entered the target cargo car unit includes: Utilizing a scanning device or image capturing device to obtain optical feedback or image analysis results indicating whether the target cargo car unit has received the cargo; and determining that the cargo has not been loaded when the optical feedback result or the image analysis result indicates that the cargo is not present at the first inspection position in the target cargo car unit.

3. The sorting control method according to claim 2.

4. The confirmation step includes: using a lifting means attached to the lowering mechanism to lift the scanning device or image capturing device to a predetermined position, and then acquiring optical feedback results or image analysis results again; and determining that the cargo has not been loaded when the optical feedback result or the image analysis result indicates that the cargo is not present at the second inspection position in the target cargo car unit.

4. The sorting control method according to claim 3.

5. The step of checking whether the target cargo car unit is in a predetermined position on the target sorting cargo shelf includes: using a scanning device or an image capturing device to obtain information on whether the target cargo car unit is located at a predetermined position on the target sorting shelf; and when the optical feedback result or the image analysis result indicates that the target cargo car unit is not present at the predetermined position, controlling the unloading mechanism of the three-dimensional sorting robot to stop the loading operation.

4. The sorting control method according to claim 3.

6. The state acquisition step further includes acquiring attribute data of the cargo car units of the sorting cargo shelf, the attribute data including dimension data, volume data, and type data.

6. The sorting control method according to claim 1, wherein the sorting control method is a method for sorting a plurality of items of paper.

7. the three-dimensional sorting robot is linked to property information of a target sorting cargo shelf, and the property information of the target sorting cargo shelf is acquired by the three-dimensional sorting robot using an RFID reader; before the state acquisition step, a step of using the RFID reader to read a tag installed on the target sorting cargo shelf to acquire the property information, the tag including at least structural data of the sorting cargo shelf and position information of the cargo car unit; the sorting cargo shelf structure data indicates a vertical and horizontal structure of the sorting cargo shelf and information on available cargo cages; The position information of the cargo car unit indicates the position of the cargo car unit in a coordinate system established by the sorting cargo shelf.

7. The sorting control method according to claim 6.

8. The step of the three-dimensional sorting robot sorting the cargo to be sorted based on the property information of the cargo shelf includes: analyzing sorting information including a correspondence between the cargo to be sorted and a certain cargo car unit on the sorting cargo shelf; searching a correspondence table to obtain coordinate values ​​of the cargo car unit in a three-dimensional coordinate system constructed by the sorting cargo shelves; and a step of searching the coordinate values ​​to identify the location and placing the cargo to be sorted into the cargo car unit.

8. The sorting control method according to claim 1, wherein the sorting control method is a method for sorting a plurality of items of paper.

9. A three-dimensional sorting robot, The three-dimensional sorting robot is disposed in a three-dimensional sorting system, A control module is installed in the three-dimensional sorting robot, and the control module is configured to execute the sorting control method used for the three-dimensional sorting robot according to any one of claims 1 to 8. A three-dimensional sorting robot characterized by:

10. The three-dimensional sorting robot and property information of a target sorting cargo shelf are linked, and the linking relationship is associated with a target order. In processing a sorting task for the target order, cargo to be sorted is sorted based on the property information of the cargo shelf.

10. The three-dimensional sorting robot according to claim 9.

11. A three-dimensional sorting control system, the three-dimensional sorting control system is disposed in a three-dimensional sorting system; The three-dimensional sorting control system is configured to execute the sorting control method used for the three-dimensional sorting robot according to any one of claims 1 to 8. A three-dimensional sorting control system characterized by:

12. The three-dimensional sorting control system is controlled by one or more sets of servers, or a host device or a centralized control device arranged in the three-dimensional sorting control system assigns sorting tasks to the three-dimensional sorting robots. The three-dimensional sorting control system according to claim 11.

13. The server is configured to store property information of each sorting cargo shelf or cargo car, and to store and update the relationship between the three-dimensional sorting robot, the order being processed, and the associated three-dimensional sorting cargo shelf or cargo car.

13. The three-dimensional sorting control system according to claim 12.

14. The three-dimensional sorting system includes one or more planar sorting robots that cooperate with the three-dimensional sorting robot, and the planar sorting robots are configured to transport cargo to the three-dimensional sorting robots based on the target order.

14. The three-dimensional sorting control system according to claim 11.

15. at least one processor; a memory communicatively coupled to the at least one processor; A command executable by the at least one processor is stored in the memory, and when the command is executed by the at least one processor, the sorting control method according to any one of claims 1 to 8 is performed by the at least one processor. A computing device characterized by:

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